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| 棉花异性纤维分拣机器人总体结构的优化设计 | |
| 引用本文： | 沈丹峰,赵辉,叶国铭.棉花异性纤维分拣机器人总体结构的优化设计[J].东华大学学报(自然科学版),2012,38(3):323-326. |
| 作者姓名： | 沈丹峰 赵辉 叶国铭 |
| 作者单位： | 1. 西安工程大学机电工程学院,陕西西安,710048 2. 西安纺织集团,陕西西安,710038 3. 东华大学机械工程学院,上海,201620 |
| 基金项目： | 陕西省教育厅自然科学基金资助项目 |
| 摘 要： | 针对棉花分拣的具体情况,依据机器人的机构选型原则,对棉花分拣机器人进行了机构选型设计,提出了一种具有整体升降和小臂伸缩功能的五自由度串联关节型棉花分拣机械手.基于棉花的分布空间,利用几何法对机械手末端轨迹进行模拟,得出机械手工作空间主剖面的面积组成,由此确定了机器人机构参数的取值范围,并建立优化模型,得到了机器人机构参数的优化解. |
| 关 键 词： | 机器人 工作空间 最优化 目标函数 约束条件 |
Optimized-Design for Different Cotton Fibers Sorting Robot General Structure |
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| SHEN Dan-feng , ZHAO Hui , YE Guo-ming.Optimized-Design for Different Cotton Fibers Sorting Robot General Structure[J].Journal of Donghua University,2012,38(3):323-326. | |
| Authors: | SHEN Dan-feng ZHAO Hui YE Guo-ming |
| Affiliation: | 3 ( 1.College of Electromechanical Engineering , Xi’an Polytechnic University , Xi’an Shaanxi 710048 , China ; 2.Xi’an Textile Group , Xi’an Shaanxi 710038 , China ; 3.College of Mechanical Engineering , Donghua University , Shanghai 201620 , China ) |
| Abstract: | According to the robot selection principles and the sorting requirement of cotton , the structure of cotton sorting robot was designed.A five degree of freedom series joint type manipulator with whole fluctuation function and forearm stretching function was proposed.Based on the distribution space of cotton pile , the main section of manipulator workspace was obtained by drawing manipulator end trajectory , and then the ranges of robot structure parameters were determined.At last , the optimized model was established and the optimal solution of the robot structure parameters was obtained. |
| Keywords: | robot workspace optimization objective function constraint condition |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |
